EP2906490B1 - Verfahren und vorrichtung für das umsetzen grossflächiger platten in extremer übergrösse - Google Patents

Verfahren und vorrichtung für das umsetzen grossflächiger platten in extremer übergrösse Download PDF

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Publication number
EP2906490B1
EP2906490B1 EP13786618.2A EP13786618A EP2906490B1 EP 2906490 B1 EP2906490 B1 EP 2906490B1 EP 13786618 A EP13786618 A EP 13786618A EP 2906490 B1 EP2906490 B1 EP 2906490B1
Authority
EP
European Patent Office
Prior art keywords
suction device
stacking
panels
frames
glass
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP13786618.2A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2906490A1 (de
Inventor
Christian Herfert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Grenzebach Maschinenbau GmbH
Original Assignee
Grenzebach Maschinenbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Grenzebach Maschinenbau GmbH filed Critical Grenzebach Maschinenbau GmbH
Priority to PL13786618T priority Critical patent/PL2906490T3/pl
Publication of EP2906490A1 publication Critical patent/EP2906490A1/de
Application granted granted Critical
Publication of EP2906490B1 publication Critical patent/EP2906490B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/022—Flat
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups
    • B65G2249/045—Details of suction cups suction cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only

Definitions

  • the invention relates to the implementation of large-scale plates, especially glass plates, in extreme oversize.
  • extreme oversize here are understood dimensions over 40 meters in length and over 6 meters in width.
  • it is glass plates.
  • this holding mechanisms usually in the form of a stable frame, moved up to the glass plate in question, connected to this via suction cups, and then the holding mechanism with the suctioned thereto Glass plate further transported.
  • a device for plate transfer from a plate conveyor on a stacking rack or the like is described, with a robot with a robot arm at its free end a suction frame or the like for receiving a plate from the plate conveyor, and equipped with a sufficient for its movement function number of degrees of freedom is.
  • the development of such a device is based on the object, a device for plate transfer from a plate conveyor on a stacking frame in such a way that, in the case of a glass plate, if possible, no adverse effect on the air side of the glass.
  • the plate conveyor is provided with a recess into which the robot arm can dip, and with, a dipping of the suction frame or the like enabling, recesses provided.
  • the suction frame or the like should be pivotally mounted at the free end of the robot arm in an upwardly facing position to take from the immersed in the recesses of the plate conveyor position a plate on its plate conveyor side facing.
  • the stacking rack used here is immovably fixed to the ground, so it can only be equipped by the, the robotic arm facing page.
  • the stacking frame must each be moved away when loading with another glass plate by the small distance of the thickness of a glass plate from the robot arm, since the distance of the robot arm is a fixed size.
  • clock slides are necessary in practice in the current state of the art, which move the stacking frame each time before loading with a new glass plate by the distance of a glass plate - thickness of the robot arm to make room for another glass plate free.
  • a turntable is necessary for loading the stacking rack from the other side. For loading the stacking rack with large and heavy glass plates of the required clock slide and the required hub of the load occurring are designed according to consuming and very expensive to manufacture.
  • the glass plate 2 can be seen here from above, which rests on the rollers of a transport device 3 which is split in length.
  • the in the Fig. 2 described base frame 10 with its two main drives 11 can be seen here from above in duplicate. They each carry on their two sides a robot arm 8, wherein in the illustrated example, the four robot arms 8, which are moved by the two shown robot base frame 10 via the respective main arms 12 and the associated pivot joints 9, with each other on the respective pivot heads 7 on Sucker frame 6 are mechanically connected.
  • These suction frame 6 carry comb-like arranged transverse webs in turn carry the suckers 5.
  • these transverse webs have, for example, in their end four pieces each laser sensors 13 of which only those in the upper part of Fig.
  • These laser sensors 13 are capable of emitting laser beams for communication with the respective adjacent suction frame 6, but also to receive such laser beams as communication signals. You can therefore coordinate the control of the drives 11 of a robot base frame 10. In this way, it is possible for a central control, to align all, required for the transport of the respective glass plate 2, suction frame 6 in a row and at a height rectilinear. Since such adjacent laser sensors 13 can also communicate diagonally, it is possible in this way to detect twisting of individual sucker frames 6 and to correct them in terms of control technology.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
EP13786618.2A 2012-10-09 2013-09-26 Verfahren und vorrichtung für das umsetzen grossflächiger platten in extremer übergrösse Active EP2906490B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL13786618T PL2906490T3 (pl) 2012-10-09 2013-09-26 Sposób i urządzenie do przenoszenia płyt wielkopowierzchniowych o bardzo dużych wymiarach

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012019841.8A DE102012019841B4 (de) 2012-10-09 2012-10-09 Verfahren und Vorrichtung für das Umsetzen großflächiger Platten in extremer Übergröße
PCT/DE2013/000550 WO2014056470A1 (de) 2012-10-09 2013-09-26 Verfahren und vorrichtung für das umsetzen grossflächiger platten in extremer übergrösse

Publications (2)

Publication Number Publication Date
EP2906490A1 EP2906490A1 (de) 2015-08-19
EP2906490B1 true EP2906490B1 (de) 2017-07-26

Family

ID=49551489

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13786618.2A Active EP2906490B1 (de) 2012-10-09 2013-09-26 Verfahren und vorrichtung für das umsetzen grossflächiger platten in extremer übergrösse

Country Status (10)

Country Link
US (1) US10464760B2 (pl)
EP (1) EP2906490B1 (pl)
CN (1) CN104755397B (pl)
DE (1) DE102012019841B4 (pl)
EA (1) EA031682B1 (pl)
ES (1) ES2639191T3 (pl)
HU (1) HUE033788T2 (pl)
IL (1) IL238040B (pl)
PL (1) PL2906490T3 (pl)
WO (1) WO2014056470A1 (pl)

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US9925634B2 (en) 2015-04-16 2018-03-27 Cardinal Ig Company Automated seaming apparatus and method
US10124359B2 (en) 2015-06-17 2018-11-13 Integrated Construction Enterprises, Inc. Autonomous painting systems and related methods
US11919019B2 (en) 2015-06-17 2024-03-05 Revolutionice Inc. Autonomous painting systems and related methods
US10005234B2 (en) 2015-10-29 2018-06-26 The Boeing Company Devices, systems, and methods for compacting a charge of composite material across an edge
CN114269667B (zh) 2019-06-26 2023-12-29 康宁公司 用于从玻璃带分离及运输玻璃板的方法
US11111086B2 (en) * 2019-11-11 2021-09-07 Cardinal Ig Company Glass stacking systems and methods
US11536083B2 (en) 2020-05-22 2022-12-27 Cardinal Ig Company Automated spacer processing systems and methods
CN112677255A (zh) * 2020-12-07 2021-04-20 安徽艾克发数控科技有限公司 一种板材自动加工用生产线
DE102021201189A1 (de) 2021-02-09 2022-08-11 OPTIMA life science GmbH Verfahren und Vorrichtung zum Aufrichten von Flachelementen
CN113173427B (zh) * 2021-05-13 2022-08-12 哈尔滨汇智实业科技发展有限公司 一种纵剪线开卷机用自动拾取物料机构
CA3126111A1 (en) * 2021-07-27 2023-01-27 2721111 Ontario Inc. Stone slab transfer and processing system and methods
CN113859980A (zh) * 2021-10-19 2021-12-31 蚌埠凯盛工程技术有限公司 一种超长玻璃多单元同步堆垛装置及其控制系统
WO2023144785A1 (en) * 2022-01-31 2023-08-03 Muratori Machines S.R.L. Device for loading flat elements onto a work table of a machine tool
US11833677B2 (en) 2022-04-20 2023-12-05 Inventus Holdings Llc Semi-autonomous exoskeleton apparatus for solar panel installation
US12523089B2 (en) 2023-01-20 2026-01-13 Cardinal Cg Company Aerogel molding and handling technology, multiple-pane insulating glazing units incorporating aerogel, and IG unit manufacturing methods

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Also Published As

Publication number Publication date
DE102012019841A1 (de) 2014-04-10
DE102012019841B4 (de) 2022-01-05
EA031682B1 (ru) 2019-02-28
EP2906490A1 (de) 2015-08-19
IL238040B (en) 2018-01-31
ES2639191T3 (es) 2017-10-25
US10464760B2 (en) 2019-11-05
CN104755397B (zh) 2017-12-15
CN104755397A (zh) 2015-07-01
US20150259159A1 (en) 2015-09-17
EA201590533A1 (ru) 2015-07-30
HUE033788T2 (en) 2017-12-28
WO2014056470A1 (de) 2014-04-17
PL2906490T3 (pl) 2017-12-29

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